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Summary of Significant Accounting Policies - Recently Adopted Accounting Pronouncements (Details) - USD ($)
$ / shares in Units, $ in Thousands
 3 Months Ended 12 Months Ended
Dec. 31, 2023
Sep. 30, 2023
Jun. 30, 2023
Mar. 31, 2023
Dec. 31, 2022
Sep. 30, 2022
Jun. 30, 2022
Mar. 31, 2022
Dec. 31, 2023
Dec. 31, 2022
Dec. 31, 2021
Dec. 31, 2020
New Accounting Pronouncements or Change in Accounting Principle [Line Items]                        
Convertible senior notes, carrying value $ 262,125       $ 140,873       $ 262,125 $ 140,873    
Accumulated deficit (233,189)       (281,344)       (233,189) (281,344)    
Additional paid-in capital 565,949       538,073       565,949 538,073    
Interest expense 19,281 $ 20,768 $ 21,863 $ 21,427 20,575 $ 19,046 $ 17,761 $ 5,831 83,339 63,213 $ 21,014  
Increase in net income $ 31,940 $ 20,634 $ 13,007 $ (17,426) $ (7,199) $ 457 $ (5,191) $ (13,069) $ 48,155 $ (25,002) $ 71,517  
Impact on earnings per share - basic $ 0.99 $ 0.61 $ 0.38 $ (0.51) $ (0.21) $ 0.01 $ (0.15) $ (0.39) $ 1.43 $ (0.74) $ 2.05  
Impact on earnings per share - diluted $ 0.82 $ 0.53 $ 0.34 $ (0.51) $ (0.21) $ 0.01 $ (0.15) $ (0.39) $ 1.29 $ (0.74) $ 1.86  
ASU 2020-06 | Adjustment                        
New Accounting Pronouncements or Change in Accounting Principle [Line Items]                        
Interest expense                     $ (6,488)  
Increase in net income                     $ 6,488  
Impact on earnings per share - basic                     $ 0.19  
Impact on earnings per share - diluted                     $ (0.06)  
ASU 2020-06 | Adjustment.                        
New Accounting Pronouncements or Change in Accounting Principle [Line Items]                        
Convertible senior notes, carrying value                       $ 39,489
Accumulated deficit                       5,288
Additional paid-in capital                       $ (44,777)